Rename all filament mjr_ functions to mjrf_.

Rename stubs.cc to mjr_compat.cc. This library acts like a
"compatibility layer" that allows the filament renderer to
be implemented behind the mjr API.

PiperOrigin-RevId: 875114054
Change-Id: I5c47581cacbcadff4c78d2ad15728cc1c3a394ad

src/experimental/filament/CMakeLists.txt

@@ -21,7 +21,7 @@ target_compile_definitions(${MUJOCO_FILAMENT_TARGET_NAME} PRIVATE MJ_STATIC)
 
 target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
     PUBLIC
-        stubs.cc
+        mjr_compat.cc
         render_context_filament.h
         render_context_filament.cc
         filament/buffer_util.cc

src/experimental/filament/mjr_compat.cc

@@ -13,9 +13,50 @@
 // limitations under the License.
 
 #include <mujoco/mujoco.h>
+#include "experimental/filament/render_context_filament.h"
+
+// This library implements the entirety of mujoco's mjr API. You can link this
+// library with your application (instead of the "classic" mujoco renderer) to
+// use the same APIs but with Filament rendering instead.
+//
+// However, you should consider using filament's mjrf API directly as it will
+// provide you with access to more features and optimizations.
 
 extern "C" {
 
+// mjr functions that are supported by the filament renderer.
+
+void mjr_defaultContext(mjrContext* con) {
+  mjrf_defaultContext(con);
+}
+void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
+  mjrf_makeContext(m, con, fontscale);
+}
+void mjr_freeContext(mjrContext* con) {
+  mjrf_freeContext(con);
+}
+void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
+  mjrf_render(viewport, scn, con);
+}
+void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
+  mjrf_uploadMesh(m, con, meshid);
+}
+void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
+  mjrf_uploadTexture(m, con, texid);
+}
+void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
+  mjrf_uploadHField(m, con, hfieldid);
+}
+void mjr_setBuffer(int framebuffer, mjrContext* con) {
+  mjrf_setBuffer(framebuffer, con);
+}
+void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
+                          const mjrContext* con) {
+  mjrf_readPixels(rgb, depth, viewport, con);
+}
+
+// mjr functions that are NOT supported by the filament renderer.
+
 void mjr_setAux(int index, const mjrContext* con) {
   mju_error("mjr_setAux not implemented.");
 }

src/experimental/filament/render_context_filament.cc

@@ -32,17 +32,17 @@ static mujoco::FilamentContext* g_filament_context = nullptr;
 
 static void CheckFilamentContext() {
   if (g_filament_context == nullptr) {
-    mju_error("Missing context; did you call mjr_makeFilamentContext?");
+    mju_error("Missing context; did you call mjrf_makeFilamentContext?");
   }
 }
 
 extern "C" {
 
-void mjr_defaultFilamentConfig(mjrFilamentConfig* config) {
+void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
   memset(config, 0, sizeof(mjrFilamentConfig));
 }
 
-void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
+void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
                              const mjrFilamentConfig* config) {
   // TODO: Support multiple contexts and multiple threads. For now, we'll just
   // assume a single, global context.
@@ -52,16 +52,18 @@ void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
   g_filament_context = new mujoco::FilamentContext(config, m, con);
 }
 
-void mjr_defaultContext(mjrContext* con) { memset(con, 0, sizeof(mjrContext)); }
+void mjrf_defaultContext(mjrContext* con) {
-
+  memset(con, 0, sizeof(mjrContext));
-void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
-  mjr_freeContext(con);
-  mjrFilamentConfig cfg;
-  mjr_defaultFilamentConfig(&cfg);
-  mjr_makeFilamentContext(m, con, &cfg);
 }
 
-void mjr_freeContext(mjrContext* con) {
+void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
+  mjr_freeContext(con);
+  mjrFilamentConfig cfg;
+  mjrf_defaultFilamentConfig(&cfg);
+  mjrf_makeFilamentContext(m, con, &cfg);
+}
+
+void mjrf_freeContext(mjrContext* con) {
   // mjr_freeContext may be called multiple times.
   if (g_filament_context) {
     delete g_filament_context;
@@ -70,50 +72,50 @@ void mjr_freeContext(mjrContext* con) {
   mjr_defaultContext(con);
 }
 
-void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
+void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con) {
   CheckFilamentContext();
   g_filament_context->Render(viewport, scn, con);
 }
 
-void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
+void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid) {
   CheckFilamentContext();
   g_filament_context->UploadMesh(m, meshid);
 }
 
-void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
+void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid) {
   CheckFilamentContext();
   g_filament_context->UploadTexture(m, texid);
 }
 
-void mjr_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
+void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid) {
   CheckFilamentContext();
   g_filament_context->UploadHeightField(m, hfieldid);
 }
 
-void mjr_setBuffer(int framebuffer, mjrContext* con) {
+void mjrf_setBuffer(int framebuffer, mjrContext* con) {
   CheckFilamentContext();
   g_filament_context->SetFrameBuffer(framebuffer);
 }
 
-void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
+void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
                           const mjrContext* con) {
   CheckFilamentContext();
   g_filament_context->ReadPixels(viewport, rgb, depth);
 }
 
-uintptr_t mjr_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
+uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
                              int width, int height, int bpp,
                              const mjrContext* con) {
   CheckFilamentContext();
   return g_filament_context->UploadGuiImage(tex_id, pixels, width, height, bpp);
 }
 
-double mjr_getFrameRate(const mjrContext* con) {
+double mjrf_getFrameRate(const mjrContext* con) {
   CheckFilamentContext();
   return g_filament_context->GetFrameRate();
 }
 
-void mjr_updateGui(const mjrContext* con) {
+void mjrf_updateGui(const mjrContext* con) {
   if (g_filament_context != nullptr) {
     g_filament_context->UpdateGui();
   }

src/experimental/filament/render_context_filament.h

@@ -26,6 +26,9 @@
 extern "C" {
 #endif
 
+// IMPORTANT: This API should still be considered experimental and is likely
+// change frequently.
+
 typedef enum mjtGraphicsApi_ {  // backend graphics API to use
   mjGFX_DEFAULT        = 0,     // default based on platform
   mjGFX_OPENGL,                 // OpenGL (desktop)
@@ -43,35 +46,37 @@ struct mjrFilamentConfig {
   bool enable_gui;
 };
 
-void mjr_defaultFilamentConfig(mjrFilamentConfig* config);
+void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
 
-void mjr_makeFilamentContext(const mjModel* m, mjrContext* con,
+void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
-                             const mjrFilamentConfig* config);
+                              const mjrFilamentConfig* config);
 
-MJAPI void mjr_defaultContext(mjrContext* con);
+void mjrf_defaultContext(mjrContext* con);
 
-MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
+void mjrf_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 
-MJAPI void mjr_freeContext(mjrContext* con);
+void mjrf_freeContext(mjrContext* con);
 
-MJAPI void mjr_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
+void mjrf_render(mjrRect viewport, mjvScene* scn, const mjrContext* con);
 
-MJAPI void mjr_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
+void mjrf_uploadMesh(const mjModel* m, const mjrContext* con, int meshid);
 
-MJAPI void mjr_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
+void mjrf_uploadTexture(const mjModel* m, const mjrContext* con, int texid);
 
-MJAPI void mjr_setBuffer(int framebuffer, mjrContext* con);
+void mjrf_uploadHField(const mjModel* m, const mjrContext* con, int hfieldid);
 
-MJAPI void mjr_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
+void mjrf_setBuffer(int framebuffer, mjrContext* con);
-                          const mjrContext* con);
 
-double mjr_getFrameRate(const mjrContext* con);
+void mjrf_readPixels(unsigned char* rgb, float* depth, mjrRect viewport,
+                     const mjrContext* con);
 
-uintptr_t mjr_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
+double mjrf_getFrameRate(const mjrContext* con);
-                             int width, int height, int bpp,
-                             const mjrContext* con);
 
-void mjr_updateGui(const mjrContext* con);
+uintptr_t mjrf_uploadGuiImage(uintptr_t tex_id, const unsigned char* pixels,
+                              int width, int height, int bpp,
+                              const mjrContext* con);
+
+void mjrf_updateGui(const mjrContext* con);
 
 #if defined(__cplusplus)
 }  // extern "C"

src/experimental/platform/renderer.cc

@@ -56,7 +56,7 @@ void Renderer::Init(const mjModel* model) {
     mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
 #else
     mjrFilamentConfig render_config;
-    mjr_defaultFilamentConfig(&render_config);
+    mjrf_defaultFilamentConfig(&render_config);
     render_config.native_window = native_window_;
     render_config.enable_gui = true;
 #if defined(MUJOCO_RENDERER_FILAMENT_OPENGL)
@@ -66,7 +66,7 @@ void Renderer::Init(const mjModel* model) {
 #elif defined(MUJOCO_RENDERER_FILAMENT_VULKAN)
     render_config.graphics_api = mjGFX_VULKAN;
 #endif
-    mjr_makeFilamentContext(model, &render_context_, &render_config);
+    mjrf_makeFilamentContext(model, &render_context_, &render_config);
 #endif
 
     mjv_defaultScene(&scene_);
@@ -171,9 +171,9 @@ int Renderer::UploadImage(int texture_id, const std::byte* pixels, int width,
 #if defined(MUJOCO_RENDERER_CLASSIC_OPENGL)
   return 0;
 #else
-  return mjr_uploadGuiImage(texture_id,
+  return mjrf_uploadGuiImage(texture_id,
-                            reinterpret_cast<const unsigned char*>(pixels),
+                             reinterpret_cast<const unsigned char*>(pixels),
-                            width, height, bpp, &render_context_);
+                             width, height, bpp, &render_context_);
 #endif
 }
 
@@ -191,7 +191,7 @@ void Renderer::UpdateFps() {
     frames_ = 0;
   }
 #else
-  fps_ = mjr_getFrameRate(&render_context_);
+  fps_ = mjrf_getFrameRate(&render_context_);
 #endif
 }
 
@@ -217,7 +217,7 @@ mjPLUGIN_LIB_INIT {
   mujoco::platform::GuiPlugin plugin;
   plugin.name = "Filament";
   plugin.update = [](mujoco::platform::GuiPlugin* self) {
-    mjr_updateGui(nullptr);
+    mjrf_updateGui(nullptr);
   };
   mujoco::platform::RegisterPlugin(plugin);
 }